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Adaptive observers as nonlinear internal models |
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| Authors: | F. Delli Priscoli L. Marconi A. Isidori |
| Affiliation: | aDipartimento di Informatica e Sistemistica, Università di Roma “La Sapienza”, 00184 Rome, Italy;bC.A.SY., Dipartimento di Elettronica, Informatica e Sistemistica, University of Bologna, 40136 Bologna, Italy;cDepartment of Electrical and Systems Engineering, Washington University, St. Louis, MO 63130, USA |
| Abstract: | This paper shows how the theory of nonlinear adaptive observers can be effectively used in the design of internal models for nonlinear output regulation. The theory substantially enhances the existing results in the context of adaptive output regulation, by allowing for not necessarily stable zero dynamics of the controlled plant and by weakening the standard assumption of having the steady-state control input generated by a linear system. |
| Keywords: | Adaptive observers Internal model Regulation Tracking Nonlinear control |
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